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Abstract

The article presents the issue of calibration and verification of an original module, which is a part of the robotic turbojet engines elements processing station. The task of the module is to measure turbojet engine compressor blades geometric parameters. These type of devices are used in the automotive and the machine industry, but here we present their application in the aviation industry. The article presents the idea of the module, operation algorithm and communication structure with elements of a robot station. The module uses Keyence GT2-A32 contact sensors. The presented information has an application nature. Functioning of the module and the developed algorithm has been tested, the obtained results are satisfactory and ensure sufficient process accuracy. Other station elements include a robot with force control, elements connected to grinding such as electrospindles, and security systems.

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Bibliography

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[14] B. Sun and B. Li. Laser displacement sensor in the application of aero-engine blade measurement. IEEE Sensors Journal, 16(5):1377–1384, 2016. doi: doi.org/10.1109/TMECH.2016.2574813">10.1109/TMECH.2016.2574813.
[16] Y. Zhang, Z.T. Chen, and T. Ning. Efficient measurement of aero-engine blade considering uncertainties in adaptive machining. The International Journal of Advanced Manufacturing Technology, 86(1–4):387–396, 2016. doi: 10.1007/s00170-015-8155-2.
[17] L. Qi, Z. Gan, C. Yun, and Q. Tang. A novel method for Aero engine blade removed-material measurement based on the robotic 3D scanning system. In Proceedings of 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, volume 4, pages 72–75, Changchun, China, 24–26 August, 2010. doi: 10.1109/CMCE.2010.5610214.
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[19] G. Budzik. Geometric Accuracy of Aircraft Engine Turbine Blades. Publishing House of Rzeszow University of Technology, 2013 (in Polish).
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Authors and Affiliations

Dariusz Szybicki
1
Andrzej Burghardt
1
Krzysztof Kurc
1
Paulina Pietruś
1

  1. Rzeszów University of Technology, Faculty of Mechanical Engineering and Aeronautics, Department of Applied Mechanics and Robotics, Rzeszów, Poland.
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Abstract

This paper presents a design of a tracked in-pipe inspection mobile robot with an adaptive drive positioning system. The robot is intended to operate in circular and rectangular pipes and ducts, oriented horizontally and vertically. The paper covers a design process of a virtual prototype, focusing on track adaptation to work environment. A mathematical description of a kinematic model of the robot is presented. Operation of the prototype in pipes with a cross-section greater than 210 mm is described. Laboratory tests that validate the design and enable determination of energy consumption of the robot are presented.

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Authors and Affiliations

Michał Ciszewski
Michał Wacławski
Tomasz Buratowski
Mariusz Giergiel
Krzysztof Kurc

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